【作者】 江春华；

【导师】 李宝仁；

【作者基本信息】 华中科技大学 ， 机械电子工程， 2004， 硕士

【摘要】 本文针对某水中兵器测试装置多轴定位系统的位置控制性能要求,对直流、交流和步进电机等几种伺服控制方案进行了比较后,确定采用交流伺服控制系统对测试装置进行控制。根据现场控制的需要,伺服控制系统采用上下位机的控制模式,上位机主要负责发送控制指令,监视测试装置的运行情况。下位机由DSP(数字信号处理器)为控制核心的交流伺服电机运动控制卡组成,负责测试装置的现场运动控制。本文对伺服控制系统进行了研究,对于基于DSP的电机伺服运动控制卡的总体结构和硬件设计及研究做了详细的讨论,包括运动控制卡与上位机的通讯方式,运动控制卡的位置反馈控制电路、DA转换电路、看门狗电路等关键电路。由于采用传统的PID 控制器无法满足非线性的交流伺服控制的参数实时调整需要,因此应用改进的PID控制方法来取代PID控制模型,即在DSP 控制系统中应用基于神经网络PID参数自调整算法对交流伺服控制系统进行控制。建立了交流伺服电机数学模型。仿真和实际结果表明,智能的神经网络PID控制器对测试装置的控制可以取得良好的控制效果。基于DSP的伺服电机运动控制器在某水中兵器多轴定位系统上得到成功应用,试验运行结果证实了控制器和算法的实用性和有效性。更多还原

【Abstract】 According to the requirement of position control of orientation system in a underwater weapon multi-axial testing devices, a AC servo motor control system was introduced after comparing with several other servo control methods, such as DC motor servo control and step motor control methods. A method of upper-down computer communicate control was used in the servo motor control system, in which the upper computer’s main responsibility is to send control command, and watch testing device’s working status, the servo motor motion controller based on DSP mainly control the underwater weapon testing device’s motion.Servo controller was studied in this dissertation. The hardware design of the DSP- based motor motion controller was studied in details, such as communication circuit between computer and motion controller, position control feedback circuit, Digital-analogy translation circuit, “watch dog” circuit and so on. The classic PID control algorithm can’t meet the requirement of nonlinear AC servo control system, so an adapted PID control method was used to instead of it. That is a neural network PID parameters self -adjusting algorithm was used to control the AC servo system. A AC servo motor mathematic model was set up. The obtained satisfactory results of simulation and practice show that NN -PID control algorithm is very suitable to the testing device control. The DSP-based servo motor controller was successfully used in the underwater weapon test device, the test result prove that the DSP-based servo system controller and the intelligent algorithm were useful and efficient.更多还原